BG LOGIC Robot output(s) controlled from cell variables (fence, e-stop)

    • New

    Hello I am working on M20ib/25 with R30iB+ controller with essentially no options installed to my knowledge.


    I have a robot output that I would like to force to zero in case of operator induced actions such as opening the door to the robot's cell or if an estop is pressed.

    To me; what i'd like to implement is a logical statement such as:

    RO[x]=!(<E-STOP> OR <FENCE OPEN>)

    that being said I do not know how to access the boolean of such an error or system variable. I have seen that there is I/O signals for fence and estop...

    Edited once, last by gumpus (January 7, 2025 at 2:36 PM).

    • New

    If it's safety-related, then you should have a relay inbetween the RO[x] and the actuator, where the relay is energized by a safe output monitored by a safety controller (either the robot itself, using Safe I/O connect, or using a safety relay or safety PLC).

    An unsafe way of doing it would be to make logic in Safe I/O connect where an NSI is modified according to your logic, then usie that NSI in your BG Logic. But as I said: it's an UNSAFE way of doing it. So nothing I would recommend.

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